US11705263B2 - Controllable and reconfigurable magnetization system and method for magnetic soft-bodied robot - Google Patents

Controllable and reconfigurable magnetization system and method for magnetic soft-bodied robot Download PDF

Info

Publication number
US11705263B2
US11705263B2 US17/595,633 US202117595633A US11705263B2 US 11705263 B2 US11705263 B2 US 11705263B2 US 202117595633 A US202117595633 A US 202117595633A US 11705263 B2 US11705263 B2 US 11705263B2
Authority
US
United States
Prior art keywords
magnetic
magnetizing coil
coil unit
magnetization
soft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active, expires
Application number
US17/595,633
Other languages
English (en)
Other versions
US20220344088A1 (en
Inventor
Liang Li
Quanliang Cao
Xiaotao Han
Yuwei JU
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huazhong University of Science and Technology
Original Assignee
Huazhong University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huazhong University of Science and Technology filed Critical Huazhong University of Science and Technology
Assigned to HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY reassignment HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: CAO, Quanliang, Han, Xiaotao, JU, Yuwei, LI, LIANG
Publication of US20220344088A1 publication Critical patent/US20220344088A1/en
Application granted granted Critical
Publication of US11705263B2 publication Critical patent/US11705263B2/en
Active legal-status Critical Current
Adjusted expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F13/00—Apparatus or processes for magnetising or demagnetising
    • H01F13/003—Methods and devices for magnetising permanent magnets
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F13/00—Apparatus or processes for magnetising or demagnetising
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N30/00—Piezoelectric or electrostrictive devices
    • H10N30/80—Constructional details
    • H10N30/802—Circuitry or processes for operating piezoelectric or electrostrictive devices not otherwise provided for, e.g. drive circuits
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N35/00—Magnetostrictive devices

Definitions

  • the present invention belongs to the technical field of magnetically controlled soft-bodied robots, and more specifically, relates to a controllable and reconfigurable magnetization system and method for a magnetic soft-bodied robot.
  • Magnetic soft-bodied robotics technology driven by an external magnetic field has received extensive attention due to its significant advantages such as non-contact and strong controllability, and its potential applications in many fields such as biomedicine and bionics.
  • the main material of the magnetic soft-bodied robot is a magnetic composite material composed of magnetic particles and soft materials, wherein in order to make the magnetic soft-bodied robot produce significant magnetic response effects under a lower external magnetic field, permanent magnetic materials such as neodymium, iron and boron are generally used as magnetic particles, and the magnetic materials can have strong residual magnetization after high-field magnetization.
  • the third method can be further divided into a 3D printing mode and an ultraviolet (UV)-based mode, which were developed by the research group of Professor Zhao Xuanhe of the Massachusetts Institute of Technology and the research group of Professor Eric Diller of the University of Toronto in Canada, respectively. Their work has all shown that the local magnetization direction of magnetized particles can be effectively adjusted by means of the external magnetic field, thereby realizing programmable magnetization with multiple distribution patterns.
  • the third method also has some shortcomings. For example, due to the limitation of the orientation magnetic field equipment, the applied external magnetic field usually does not exceed 1 T, and it is impossible to ensure that the magnetized particles can be completely reoriented along the direction of the magnetic field, so that the magnetization intensity of the magnetic robot is weakened to a certain extent.
  • the magnetization adjustment and control process and the hardening preparation process of the soft material are carried out synchronously in the third method, the magnetization characteristics of the material cannot be changed after its preparation is completed, that is, it is difficult to reconfigure.
  • the applicant's research group has also proposed a magnetization system for a magnetically controlled soft-bodied robot based on a controllable micro-coil array (Application No.: 201910557705.6) and a device and method for adjusting and controlling internal magnetization characteristics of a magnetic soft-bodied robot on the basis of a long wire or a solenoid coil (Application No.: 201911010537.5).
  • the former introduces high-strength micro-coils into the magnetic soft material.
  • it requires high coil preparation technology.
  • how to ensure that the embedded coil does not affect the deformation characteristic of the soft material remains to be solved.
  • the main problem of the latter is that it is difficult to realize controllable magnetization under small-scale magnetic soft-bodied robots.
  • the present invention provides a system and method for adjusting and controlling internal magnetization characteristics of a magnetic soft-bodied robot, which use magnetizing coil units axisymmetrically arranged up and down to perform focusing of magnetic fields, and realize the generation, adjustment and control of magnetization magnetic field directions of small-scale regions in cooperation with pulse current control. It is intended to solve the problems in the prior art of complicated magnetization process, difficult reconfiguration of internal magnetization characteristics, and poor implementation of magnetically controlled soft-bodied robots.
  • the present invention provides a system for adjusting and controlling internal magnetization characteristics of a magnetic soft-bodied robot, comprising a pulse power supply module, a magnetizing coil module, and a magnetic soft-bodied robot;
  • the pulse power supply module is used to provide a pulse current for the magnetizing coil module
  • the magnetizing coil module is used to generate an oscillating or non-oscillating magnetic field under the pulse current provided by the pulse power supply module, and to perform non-oscillating magnetization or oscillating demagnetization of the magnetic soft-bodied robot;
  • the magnetizing coil module comprises an upper magnetizing coil unit and a lower magnetizing coil unit, the upper magnetizing coil unit and the lower magnetizing coil unit are axisymmetrically arranged up and down, the upper magnetizing coil unit and the lower magnetizing coil unit each comprise a coil, the magnetic soft-bodied robot is located between the upper magnetizing coil unit and the lower magnetizing coil unit, a target magnetization region of the magnetic soft-bodied robot is located in a magnetic field action region of the upper magnetizing coil unit and the lower magnetizing coil unit, and the upper magnetizing coil unit and the lower magnetizing coil unit axisymmetrically arranged up and down are used to focus magnetic fields generated by their coils to the target magnetization region of the magnetic soft-bodied robot; and
  • wiring modes of the coils in the upper magnetizing coil unit and the lower magnetizing coil unit are set according to magnetization requirements of the target magnetization region of the magnetic soft-bodied robot to control current directions in the coils in the upper magnetizing coil unit and the lower magnetizing coil unit, and then perform magnetization adjustment and control on the target magnetization region of the magnetic soft-bodied robot.
  • the wiring modes of the coils in the upper magnetizing coil unit and the lower magnetizing coil unit are set according to the magnetization requirements of the target magnetization region of the magnetic soft-bodied robot to control the current directions in the coils in the upper magnetizing coil unit and the lower magnetizing coil unit, and then to control a radial or axial magnetic field to be generated in the target magnetization region of the magnetic soft-bodied robot, which is specifically as follows:
  • the axial magnetic field is generated in the target magnetization region of the magnetic soft-bodied robot, and magnetic particles in the target magnetization region form an axial magnetization distribution characteristic; and when the current direction of the coil in the upper magnetizing coil unit is controlled to be opposite to the current direction of the coil in the lower magnetizing coil unit, the radial magnetic field is generated in the target magnetization region of the magnetic soft-bodied robot, and the magnetic particles in the target magnetization region form a radial magnetization distribution characteristic.
  • the pulse power supply module comprises a discharge capacitor, a discharge switch and a freewheeling circuit
  • the discharge capacitor is used to store electric energy
  • the discharge switch is used to trigger conduction of the discharge circuit, so that a pulse current provided by the discharge capacitor can flow into the magnetizing coil module;
  • the freewheeling circuit comprises a freewheeling diode and a freewheeling resistor, and is used to adjust a current waveform.
  • the coil is formed by wire winding or conductor cutting, a reinforcing material is arranged on the periphery of the coil, and the coil is used as a discharge circuit load to generate a magnetic field.
  • the upper magnetizing coil unit and the lower magnetizing coil unit each further comprise a magnetic concentrator
  • the magnetic concentrator is made of a good conductor material
  • the magnetic concentrator comprises two hollow cylinder structures coaxially arranged up and down with different end surface areas, wherein the end surface area of a first cylinder structure is smaller than the end surface area of a second cylinder structure; and the magnetic concentrator further comprises a magnetic concentrator gap arranged along a radial direction.
  • one end of the magnetic concentrator gap arranged along the radial direction is located at an inner wall of the first cylinder structure and the second cylinder structure, and the other end is located at an outer side edge of the second cylinder structure.
  • the lower magnetizing coil unit is coaxially arranged with a first supporting plate, a lower coil arranged with a reinforcement layer on the periphery, an insulating plate, a lower magnetic concentrator and a second supporting plate, in order from bottom to top;
  • the upper magnetizing coil unit is coaxially arranged with a first supporting plate, an upper coil arranged with a reinforcement layer on the periphery, an insulating plate, an upper magnetic concentrator, and a second supporting plate, in order from top to bottom;
  • a positioning plate for positioning the magnetic soft-bodied robot is arranged between the upper magnetizing coil unit and the lower magnetizing coil unit;
  • the upper magnetic concentrator and the lower magnetic concentrator have the same structure, and are axisymmetrically arranged up and down;
  • the magnetic soft-bodied robot is arranged between an end surface of the first cylinder structure of the upper magnetic concentrator and an end surface of the first cylinder structure of the lower magnetic concentrator, and the upper magnetic concentrator and the lower magnetic concentrator axisymmetrically arranged up and down are used to further focus magnetic fields generated by an upper coil and a lower coil to the target magnetization region of the magnetic soft-bodied robot;
  • the upper coil and the lower coil are arranged in series to ensure consistency of a time sequence.
  • wiring modes of the upper coil and the lower coil are set according to the magnetization requirements of the target magnetization region of the magnetic soft-bodied robot to control current directions in the upper coil and the lower coil and eddy current directions induced in the upper magnetic concentrator and the lower magnetic concentrator, and then to control a radial or axial magnetic field to be generated in the target magnetization region of the magnetic soft-bodied robot.
  • the wiring modes of the coils in the upper magnetizing coil unit and the lower magnetizing coil unit are set according to the magnetization requirements of the target magnetization region of the magnetic soft-bodied robot to control the current directions in the coils in the upper magnetizing coil unit and the lower magnetizing coil unit, and then to control the radial or axial magnetic field to be generated in the target magnetization region of the magnetic soft-bodied robot, which is specifically as follows:
  • the eddy current direction induced in the upper magnetic concentrator is the same as the eddy current direction induced in the lower magnetic concentrator, and then the axial magnetic field is generated in the target magnetization region of the magnetic soft-bodied robot, and magnetic particles in the target magnetization region form an axial magnetization distribution characteristic; and when the current direction of the coil in the upper magnetizing coil unit is controlled to be opposite to the current direction of the coil in the lower magnetizing coil unit, the eddy current direction induced in the upper magnetic concentrator is opposite to the eddy current direction induced in the lower magnetic concentrator, and then the radial magnetic field is generated in the target magnetization region of the magnetic soft-bodied robot, and the magnetic particles in the target magnetization region form a radial magnetization distribution characteristic.
  • the method further comprises step (5): repeating steps (1) to (4) to complete the magnetization adjustment and control of other target magnetization regions of the magnetic soft-bodied robot.
  • the magnetization requirements in step (2) include magnetization or demagnetization; and the magnitude of resistance of the freewheeling circuit in the pulse power supply module is 0 or infinity.
  • connection modes in step (3) include a forward connection or a reverse connection.
  • the system for adjusting and controlling the internal magnetization characteristics of the magnetic soft-bodied robot has a relatively simple system structure and adjustment and control method.
  • the system comprises magnetizing coil units axisymmetrically arranged up and down, and a magnetic soft-bodied robot placed between the upper and lower magnetizing units.
  • a magnetic concentrator is also integrated in the upper and lower magnetizing units, so that the magnetization system of the present invention has high magnetic field generation efficiency and strong magnetization ability.
  • the magnetization system in the present invention includes two levels of magnetization effects. The first level is that the magnetic field can be concentrated in the central region where the magnetic soft-bodied robot is located by using a magnetization driving coil system axisymmetrically arranged up and down. The second level is that the magnetic concentrator can further concentrate the magnetic field on its small end face region, which is the target magnetization region of the magnetic soft-bodied robot. Therefore, based on the magnetization system, it is easy to generate pulsed strong magnetic field conditions of 2 T or more, realizing saturation magnetization of particles.
  • the system for adjusting and controlling the internal magnetization characteristics of the magnetic soft-bodied robot with the magnetic concentrator of the present invention can realize the axial and radial magnetization patterns by means of adjusting the current flow directions of the double coils, and at the same time, can realize focusing of the magnetic field by means of the magnetic concentrator. On the one hand, it improves the utilization rate of the magnetic field, and on the other hand, it provides an effective way to realize the precise adjustment and control of the magnetic field in local small-scale regions.
  • the present invention realizes the particle magnetization and synchronization of bidirectional orientations for the first time, and decouples the material preparation process of the magnetic soft-bodied robot from the magnetization process, so that the entire manufacturing process is very simple.
  • the internal magnetization distribution is reconfigurable, which provides a completely new technical approach for realizing multifunctional magnetic soft-bodied robots.
  • the magnetization adjustment and control process is after the hardening preparation process of the soft material, that is, the two are independent of each other. Therefore, the previously magnetized magnetic soft-bodied robot can be adjusted again for reconfigurable magnetization of the magnetic soft-bodied robot according to the magnetization requirements, such as changing the magnetization direction distribution, performing demagnetization or the like.
  • the magnetic concentrator is used to generate a local magnetic field.
  • the magnetic field action region has little correlation with the size of the coils, but mainly depends on the magnetic concentrator. Therefore, under the condition that the coils remain unchanged, the magnetization characteristics of soft-bodied robots of different scales can be adjusted and controlled by means of adjusting the size of the magnetic concentrator, which makes it possible to adjust and control the magnetization characteristics of the miniature soft-bodied robot.
  • FIG. 1 is an exploded diagram of a three-dimensional structure of a magnetizing coil module provided by the present invention and a schematic diagram of a current flow direction in a magnetic concentrator;
  • FIG. 2 is a schematic diagram of a circuit structure of a magnetization system for a magnetic soft-bodied robot provided by the present invention
  • FIG. 3 consists of schematic diagrams of current and magnetization effects in an axial magnetization pattern provided by the present invention:
  • FIG. 3 a is a schematic diagram of current distributions in double coils and a magnetic concentrator in the axial magnetization pattern;
  • FIG. 3 b is a schematic diagram of magnetization directions of particles in a sample after axial magnetization;
  • FIG. 4 consists of schematic diagrams of current and magnetization effects in a radial magnetization pattern provided by the present invention:
  • FIG. 4 a is a schematic diagram of current distributions in the double coils and the magnetic concentrator in the radial magnetization pattern;
  • FIG. 4 b is a schematic diagram of magnetization directions of particles in a sample after radial magnetization;
  • FIG. 5 consists of magnetization design, simulation and experimental diagrams for realizing two-dimensional and three-dimensional deformations of a magnetic soft-bodied robot according to the present invention.
  • FIG. 6 consists of schematic diagrams and experimental diagrams of the implementation of the present invention to realize multiple types of magnetic soft-bodied robots on the basis of the same magnetized sample.
  • the present invention provides a system for adjusting and controlling internal magnetization characteristics of a magnetic soft-bodied robot, comprising a pulse power supply module, a magnetizing coil module, and a magnetic soft-bodied robot.
  • the pulse power supply module is used to provide a pulse current for the magnetizing coil module.
  • the magnetizing coil module is used to generate an oscillating or non-oscillating magnetic field under the pulse current provided by the pulse power supply module, and to perform non-oscillating magnetization or oscillating demagnetization of the magnetic soft-bodied robot.
  • the magnetizing coil module comprises an upper magnetizing coil unit and a lower magnetizing coil unit.
  • the upper magnetizing coil unit and the lower magnetizing coil unit are axisymmetrically arranged up and down.
  • the upper magnetizing coil unit and the lower magnetizing coil unit each comprise a coil.
  • the magnetic soft-bodied robot is located between the upper magnetizing coil unit and the lower magnetizing coil unit, and a target magnetization region of the magnetic soft-bodied robot is located in a magnetic field action region of the upper magnetizing coil unit and the lower magnetizing coil unit.
  • the upper magnetizing coil unit and the lower magnetizing coil unit axisymmetrically arranged up and down are used to focus magnetic fields generated by their coils to the target magnetization region of the magnetic soft-bodied robot.
  • wiring modes of the coils in the upper magnetizing coil unit and the lower magnetizing coil unit are set according to magnetization requirements of the target magnetization region of the magnetic soft-bodied robot to control current directions in the coils in the upper magnetizing coil unit and the lower magnetizing coil unit, and then perform magnetization adjustment and control on the target magnetization region of the magnetic soft-bodied robot.
  • the pulse power supply module is used to supply power to the magnetizing coil module including double coils.
  • a magnetizing or demagnetizing function can be realized by means of turning on and off a freewheeling switch.
  • magnetic concentrators are further integrated in the upper magnetizing coil unit and the lower magnetizing coil unit.
  • the magnetizing coil module with the magnetic concentrators can realize axial and radial magnetization patterns by means of adjusting current flow directions of the double coils, and at the same time, can realize focusing of the magnetic field by means of the magnetic concentrator. On the one hand, it improves the utilization rate of the magnetic field, and on the other hand, it provides an effective approach for realizing precise adjustment and control of the magnetic field in local small-scale regions.
  • the present invention realizes the particle magnetization and synchronization of bidirectional orientations for the first time, and decouples the material preparation process of the magnetic soft-bodied robot from the magnetization process, so that the entire manufacturing process is very simple. Moreover, the internal magnetization distribution is reconfigurable, which provides a completely new technical approach for realizing multifunctional magnetic soft-bodied robots.
  • the pulse power supply module comprises a discharge capacitor, a discharge switch, and a freewheeling circuit.
  • the discharge capacitor is used to store electric energy.
  • the discharge switch is used to trigger the conduction of the discharge circuit, so that the pulse current provided by the discharge capacitor can flow into the magnetizing coil module.
  • the freewheeling circuit comprises a freewheeling diode and a freewheeling resistor, and is used to adjust a current waveform. When the freewheeling resistor has relatively small resistance (which may be as low as 0), a discharge current is a non-oscillating waveform, and after it flows into the coil, a non-oscillating magnetic field can be generated and used to magnetize the magnetic soft-bodied robot.
  • the discharge current is an oscillating waveform, and after it flows into the coil, an oscillating magnetic field can be generated and used to demagnetize the magnetic soft-bodied robot.
  • the upper magnetizing coil unit and the lower magnetizing coil unit each further comprise a magnetic concentrator.
  • the magnetic concentrator is made of a good conductor material.
  • the magnetic concentrator comprises two hollow coaxially arranged up and down with different end surface areas, wherein the end surface area of a first cylinder structure is smaller than the end surface area of a second cylinder structure.
  • the magnetic concentrator further comprises a magnetic concentrator gap arranged along a radial direction.
  • the shape of the end surfaces of the first cylinder structure and the end surfaces of the second cylinder structure is not limited, such as a circular shape, a regular or irregular polygon, or the like.
  • one end of the magnetic concentrator gap arranged along the radial direction is located at an inner wall of the first cylinder structure and the second cylinder structure, and the other end is located at an outer side edge of the second cylinder structure.
  • the width of the magnetic concentrator may be set to be no more than 1/40 of a difference between a circumference of an end surface of a first cylinder and a circumference of an end surface of a second cylinder. The setting of the magnetic concentrator can concentrate the magnetic field on its small-sized end face region, which is the target magnetization region of the magnetic soft-bodied robot.
  • the magnetization characteristics of soft-bodied robots with different scales can be adjusted and controlled by means of adjusting the end face size of the magnetic concentrator, which makes it possible to adjust and control the magnetization characteristics of miniature soft-bodied robots.
  • the lower magnetizing coil unit is coaxially arranged with a first supporting plate, a lower coil arranged with a reinforcement layer on the periphery, an insulating plate, a lower magnetic concentrator, and a second supporting plate, in order from bottom to top.
  • the upper magnetizing coil unit and the lower magnetizing coil unit are axisymmetrically arranged up and down. Therefore, the upper magnetizing coil unit is coaxially arranged with a first supporting plate, an upper coil arranged with a reinforcement layer on the periphery, an insulating plate, an upper magnetic concentrator, and a second supporting plate, in order from top to bottom.
  • the second supporting plate is provided with a central hole for the first cylinder structure of the magnetic concentrator with a small end face size to be embedded therein.
  • sub-components in the upper magnetizing coil unit and the lower magnetizing coil unit are connected and fixed as a whole by means of nuts and screws, respectively.
  • the magnetic soft-bodied robot is composed of permanent magnetic materials (such as NdFeB magnetic particles) and soft materials (such as silica gel, TPE material, hydrogel or the like) at a micron level or less.
  • permanent magnetic materials such as NdFeB magnetic particles
  • soft materials such as silica gel, TPE material, hydrogel or the like
  • a tooling system composed of the first supporting plates, the second supporting plates, the insulating plates and so on in the upper and lower magnetizing coil units is mainly composed of supporting members and bolts made of non-magnetically permeable conductive materials (such as epoxy plates). On the one hand, it is used to connect the coils and the magnetic concentrator as a whole. On the other hand, it is used to ensure the stability of the upper and lower driving coils after being stressed in the discharge process.
  • the first supporting plate and the second supporting plate are both epoxy supporting plates.
  • the present invention further provides a method for adjusting and controlling internal magnetization characteristics of a magnetic soft-bodied robot on the basis of the system described above, comprising the following steps:
  • connection modes forward connection or reverse connection
  • the method further comprises steps of:
  • the system for adjusting and controlling the internal magnetization characteristics of the magnetic soft-bodied robot is composed of an upper magnetizing coil unit 7 , a lower magnetizing coil unit (comprising an epoxy supporting plate, i.e. a first supporting plate 16 , a copper conductor, i.e. a lower coil 14 , a reinforcement layer 13 , an insulating plate 12 , a lower magnetic concentrator 11 and an epoxy supporting plate, i.e. a second supporting plate 10 , in order from bottom to top), a screw 17 , a nut 6 , a coil nose 15 and other components.
  • an epoxy supporting plate i.e. a first supporting plate 16
  • a copper conductor i.e. a lower coil 14
  • a reinforcement layer 13 i.e. a reinforcement layer 13
  • an insulating plate 12 i.e. a lower magnetic concentrator 11
  • an epoxy supporting plate i.e. a second supporting plate 10
  • a positioning plate 8 may be designed for positioning.
  • the magnetic concentrator 11 comprises two hollow cylinders coaxially arranged up and down with different end surface areas, wherein the sectional area of the upper cylinder is much smaller than the sectional area of the lower cylinder.
  • the gap of the magnetic concentrator passes through a half longitudinal-section of the upper cylinder, a half longitudinal-section of the lower cylinder structure and a common axis of the two cylinder structures at the same time.
  • Schematic diagrams of the magnetic concentrator 11 under front and back viewing angles are as shown by 11 a and 11 b . Its working principle is to block a current flow 11 f in a larger section by means of the gap 11 c , so as to lead the current to a smaller section 11 e , realizing focusing of the current and magnetic field.
  • a circuit system as shown in FIG. 2 is used to realize the magnetization of the magnetic sample. Specifically, it comprises a discharge capacitor 1 , the system 2 for adjusting and controlling the internal magnetization characteristics of the magnetic soft-bodied robot according to the present invention, a discharge switch 4 , a line impedor 5 (a line resistor 5 - 1 and an inductor 5 - 2 ), and a freewheeling circuit 3 (a diode 3 - 1 , a freewheeling resistor 3 - 2 and a freewheeling switch 3 - 3 ). Before discharging, the freewheeling circuit switch 3 - 3 is turned on to charge the capacitor 1 , and then the discharge switch 4 is turned on to discharge the magnetizing coil module 2 .
  • a current flow direction ( 18 a and 18 b ) of the upper copper coil is the same as a current flow direction ( 21 a and 21 b ) of the lower copper coil. Accordingly, an eddy current flow direction ( 19 a and 19 b ) induced in the upper magnetic concentrator is the same as an eddy current flow direction ( 20 a and 20 b ) induced in the lower magnetic concentrator.
  • the magnetic field in the sample region is dominated by an axial magnetic field in a central region 22 , so that the particles in the sample can form an axial magnetization distribution characteristic as shown in 23 .
  • a circuit system as shown in FIG. 2 is used to realize the magnetization of the magnetic sample. Specifically, it comprises a discharge capacitor 1 , the system 2 for adjusting and controlling the internal magnetization characteristics of the magnetic soft-bodied robot according to the present invention, a discharge switch 4 , a line impedor 5 (a line resistor 5 - 1 and an inductor 5 - 2 ), and a freewheeling circuit 3 (a diode 3 - 1 , a freewheeling resistor 3 - 2 and a freewheeling switch 3 - 3 ). Before discharging, the freewheeling circuit switch 3 - 3 is turned on to charge the capacitor 1 , and then the discharge switch 4 is turned on to discharge the magnetizing coil module 2 .
  • a current flow direction ( 24 a and 24 b ) of the upper copper coil is opposite to a current flow direction ( 26 a and 26 b ) of the lower copper coil.
  • an eddy current flow direction ( 25 a and 25 b ) induced in the upper magnetic concentrator is opposite to an eddy current flow direction ( 26 a and 26 b ) induced in the lower magnetic concentrator.
  • the magnetic field in the sample region is dominated by a radial component 28 , so that the particles in the sample can form a radial magnetization distribution characteristic as shown in 29 .
  • FIG. 5 shows deformation characteristics of multiple types of magnetic soft-bodied robots realized on the basis of the radial magnetization technology provided by the present invention under the action of magnetic fields, where rows A to F represent six types of magnetic soft-bodied robots, respectively, and columns a to f represent schematic diagrams of initial morphology and magnetization, experimental diagrams of deformation under the action of a vertical downward magnetic field, simulation diagrams of deformation under the action of a vertical downward magnetic field, experimental diagrams of deformation under the action of a vertical upward magnetic field, and simulation diagrams of deformation under the action of a vertical upward magnetic field of the magnetic soft-bodied robots, respectively.
  • the details are as follows: 1) FIGS.
  • FIG. 5 Aa- 5 Af show morphological transformations of a strip-shaped soft magnetic robot with a single-group symmetrical radial magnetization characteristic from one-dimensional strip to two-dimensional “n” and “v” shapes. This type of robot can be realized by a single discharge on the basis of the provided magnetization device.
  • FIGS. 5 Ba- 5 Bf show morphological transformations of a strip-shaped soft magnetic robot with a double-group symmetrical radial magnetization characteristic from one-dimensional strip to two-dimensional “m” and “w” shapes.
  • FIGS. 5 Ca- 5 Cf show morphological transformation characteristics of a circular soft magnetic robot with a symmetrical radial magnetization characteristic under the action of magnetic fields.
  • This type of robot can be realized by a single discharge on the basis of the provided magnetization device.
  • FIGS. 5 Da- 5 Df show morphological transformation characteristics of a circular magnetic soft-bodied robot with a four-group symmetric radial magnetization characteristic under the action of magnetic fields.
  • FIGS. 5 Ea- 5 Ef show morphological transformation characteristics of a four-jaw magnetic soft-bodied robot with a single-group symmetric radial magnetization characteristic under the action of magnetic fields.
  • This type of robot can be realized by a single discharge on the basis of the provided magnetization device.
  • FIGS. 5 Fa- 5 Ff show morphological transformation characteristics of a six-jaw magnetic soft-bodied robot with a single-group symmetric radial magnetization characteristic under the action of magnetic fields.
  • This type of robot can be realized by a single discharge on the basis of the provided magnetization device.
  • the above results fully prove that the magnetization technology provided by the present invention can realize abundant magnetization distribution characteristics inside the magnetic samples, so that it can be used to realize the functions of multiple types of different magnetic soft-bodied robots.
  • FIG. 6 shows how to realize multiple types of magnetic soft-bodied robots under the same magnetized sample on the basis of the magnetization method provided by the present invention.
  • Content A of FIG. 6 shows a preparation and magnetization process of multiple types of magnetic soft-bodied robots. Specifically, a disk-shaped sample composed of a magnetic composite soft material is first prepared (comprising mixing and stirring 30 of NdFeB particles and Ecoflex00-10, pouring 31 of a mixed liquid, solidification 32 of a sample, and sampling 33 ).
  • a disk-shaped sample with a radial magnetization characteristic is prefabricated 34 by means of a simple one-step magnetization method, and then it may be cut into specific structures ( 35 ).
  • Content B of FIG. 6 shows morphological characteristics of deformation of a strip robot, a three-jaw robot, a circular robot and a six-jaw robot formed by cutting under the action of a vertical upward magnetic field.
  • the content C of FIG. 6 shows that the magnetization characteristics of a strip robot 36 can be reconfigured on the basis of the magnetization method provided by the present invention, including optionally removing magnetism 37 (the operation is as follows: before discharging, the freewheeling circuit switch 3 - 3 in FIG.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)
US17/595,633 2020-12-31 2021-05-08 Controllable and reconfigurable magnetization system and method for magnetic soft-bodied robot Active 2041-06-25 US11705263B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN202011638321.6A CN112786275B (zh) 2020-12-31 2020-12-31 一种磁性软体机器人的可控和可重构磁化系统及方法
CN202011638321.6 2020-12-31
PCT/CN2021/092317 WO2022142050A1 (zh) 2020-12-31 2021-05-08 一种磁性软体机器人的可控和可重构磁化系统及方法

Publications (2)

Publication Number Publication Date
US20220344088A1 US20220344088A1 (en) 2022-10-27
US11705263B2 true US11705263B2 (en) 2023-07-18

Family

ID=75755073

Family Applications (1)

Application Number Title Priority Date Filing Date
US17/595,633 Active 2041-06-25 US11705263B2 (en) 2020-12-31 2021-05-08 Controllable and reconfigurable magnetization system and method for magnetic soft-bodied robot

Country Status (3)

Country Link
US (1) US11705263B2 (zh)
CN (1) CN112786275B (zh)
WO (1) WO2022142050A1 (zh)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023081309A1 (en) * 2021-11-04 2023-05-11 Resonant Link, Inc. Conductive materials in alternating magnetic fields
CN114932543B (zh) * 2022-03-24 2023-08-11 中国科学院深圳先进技术研究院 机器人及其系统、机器人的制备方法及其运动控制方式
CN115346755B (zh) * 2022-08-23 2023-03-31 华中科技大学 一种永磁电机转子充磁装置及方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110216667A (zh) * 2019-06-26 2019-09-10 华中科技大学 一种磁控软体机器人的可控磁化系统
US20200027653A1 (en) 2018-07-19 2020-01-23 Taiyo Yuden Co., Ltd. Magnetic coupling coil element and method of manufacturing the same
CN110783055A (zh) * 2019-10-23 2020-02-11 华中科技大学 一种磁性软体机器人内部磁化特性的调控装置及方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2710449B1 (fr) * 1993-09-24 1995-11-10 Crescenzo Eric Dispositif de magnétisation ou de désaimantation d'un objet sans contact direct avec des pôles magnétiques ou des touches d'amenée de courant.
CN103589854B (zh) * 2013-10-30 2015-08-19 华中科技大学 一种电磁孔强化方法
CN106252023B (zh) * 2016-08-23 2017-12-05 浙江东阳东磁稀土有限公司 一种多极磁环取向和充磁的夹具及方法
CN206908482U (zh) * 2017-07-03 2018-01-19 始兴县标准微型马达有限公司 一种微型直流马达偏压充磁装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200027653A1 (en) 2018-07-19 2020-01-23 Taiyo Yuden Co., Ltd. Magnetic coupling coil element and method of manufacturing the same
CN110216667A (zh) * 2019-06-26 2019-09-10 华中科技大学 一种磁控软体机器人的可控磁化系统
CN110783055A (zh) * 2019-10-23 2020-02-11 华中科技大学 一种磁性软体机器人内部磁化特性的调控装置及方法

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
Ju et al., "Reconfigurable magnetic soft robots with multimodal locomotion", Nano Energy, vol. 87, Sep. 2021, 9 pages provided.
Machine translation of Cao et al. Chinese Patent Document CN 110216667 A Sep. 10, 2019 (Year: 2019). *
Machine translation of Cao et al. Chinese Patent Document CN 110783055 A Feb. 11, 2020 (Year: 2020). *
Xiang et al., Did you mean: Motion Characteristics of magnetic control micro-soft crawling robot, Journal of Mechanical Engineering, vol. 56 No. 17, Sep. 2020, with English Abstract, 9 pages provided.

Also Published As

Publication number Publication date
CN112786275A (zh) 2021-05-11
US20220344088A1 (en) 2022-10-27
WO2022142050A1 (zh) 2022-07-07
CN112786275B (zh) 2021-10-01

Similar Documents

Publication Publication Date Title
US11705263B2 (en) Controllable and reconfigurable magnetization system and method for magnetic soft-bodied robot
CN109865760B (zh) 一种基于模块化集磁器的电磁成形装置及方法
WO2007033437A1 (en) Magnet arrays
WO2014028448A1 (en) Variable field magnetic holding system
CN102950498A (zh) 磁性工作台
CN107491097B (zh) 基于三维磁场的磁性颗粒调控装置
CN101814871B (zh) 直流静动态对称/不对称磁场发生装置
CN103643213A (zh) 一种旋转横向磁场耦合轴向磁场辅助电弧离子镀装置
US20100052832A1 (en) Permanent electromagnetic indexing apparatus
CN105680620A (zh) 旋合模式的双稳态动作执行器及电致通透屏和体
CN103692035B (zh) 一种对丝状金属材料进行放电加工的装置
CN102554376A (zh) 可变磁场辅助电化学复合加工装置
CN102013301B (zh) 一种辐射充磁或取向装置
CN113936884B (zh) 一种激光辅助加热的多极磁化方法
CN203569181U (zh) 一种旋转横向磁场耦合轴向磁场辅助电弧离子镀装置
CN110707894A (zh) 基于多种磁相变合金的振动能量收集器
CN1582524A (zh) 固定电磁发电机
CN107331500A (zh) 一种用于特殊径向磁场取向成型模具
CN206865332U (zh) 一种恒力矩比例旋转的电磁装置、系统
CN210403403U (zh) 一种磁打印装置
CN207587461U (zh) 用于磁流变平面抛光的电控永磁式磁场发生装置
CN202816533U (zh) 一种稀土永磁材料用充磁设备
CN205692674U (zh) 一种改进型低温升节能线圈
CN2186737Y (zh) 可卸柱式极冠电永磁强力吸盘
CN113903543B (zh) 一种基于模块化线圈的永磁电机充磁装置及充磁方法

Legal Events

Date Code Title Description
FEPP Fee payment procedure

Free format text: ENTITY STATUS SET TO UNDISCOUNTED (ORIGINAL EVENT CODE: BIG.); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY

AS Assignment

Owner name: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY, CHINA

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:LI, LIANG;CAO, QUANLIANG;HAN, XIAOTAO;AND OTHERS;REEL/FRAME:058176/0321

Effective date: 20211108

FEPP Fee payment procedure

Free format text: ENTITY STATUS SET TO SMALL (ORIGINAL EVENT CODE: SMAL); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY

STPP Information on status: patent application and granting procedure in general

Free format text: DOCKETED NEW CASE - READY FOR EXAMINATION

STCF Information on status: patent grant

Free format text: PATENTED CASE

STCF Information on status: patent grant

Free format text: PATENTED CASE